DE102020213690A1 - Method for setting a shape of a headrest, method for providing imaging data and systems with a headrest - Google Patents

Abstract

The invention relates to a method for setting a shape of a headrest, the method comprising the following steps: positioning a head of a patient using the headrest, receiving radiological image data relating to the patient's head, calculating a target pose of the Head of the patient based on the radiological image data, calculating a set of landmarks on the head of the patient based on the radiological image data, calculating a landmark position, which relates to the set of landmarks, based on the radiological image data and the target Pose of the head of the patient, acquisition of optical image data relating to the head of the patient by means of a camera, calculation of an actual landmark position relating to the set of landmarks based on the optical image data, calculation based on the landmark actual position and the landmark target position, of control data for the adjustment ll system to influence the actual landmark position through the shape of the headrest in the sense of an adjustment to the target landmark position, - setting the shape of the headrest by means of the adjustment system based on the control data for the adjustment system.

Description

The invention relates to a method for adjusting a shape of a headrest. The invention also relates to a method for providing imaging data and a system with a head support.

In order to carry out a computed tomography (CT) examination of the neurocranium in such a way that the data collected are reproducible, and in order to reduce unnecessary irradiation of the extremely sensitive cornea and lens of the eyes, the beam path and the patient's head are aligned relative to one another in such a way that the beam path runs parallel to the so-called orbito-meatal line. However, the orbito-meatal line runs obliquely through the skull and is different for practically every patient.

In order to allow the beam path to run parallel to this line, the CT gantry can, for example, be tilted accordingly or the head can be stored inclined in the head shell. Since the tilting of the gantry or the positioning of the head has hitherto been done manually by medical personnel, there is no comparability of different examinations due to a possibly differently set angle of the beam path to the orbito-meatal line and the associated different sectional plane.

However, it is not only the inclination of the head that plays a role; rotation from the center line or tilting to the side can mean that recordings cannot be reproduced and, in the worst case, are difficult or impossible to assess.

It is also important to position the head correctly in a magnetic resonance (MR) scanner. Although the inclination plane of the imaging can be tilted here by the gradient system, a laterally inclined mounting (rotation) nevertheless makes it more difficult to assess the images.

The position of the head of the patient to be examined can be adjusted manually, for example. The angle of inclination is set, for example, by inserting positioning cushions of various sizes, by “lining” a standard pillow or by fixing a head that is inclined. Alternatively, if possible on the scanner side, the gantry of the scanner can be tilted so that the beam path runs parallel to the imaginary orbito-meatal line.

In both cases, the correctness of the positioning can only be checked roughly, as there are no externally recognizable markers for the orbito-meatal line on the patient. It is particularly difficult to position the head in CT scanners in which the gantry cannot be tilted, since the inclination of the head must be correctly set and held by the patient.

The invention has the object of enabling an improved setting of a shape of a headrest.

• - Lagern eines Kopfes eines Patienten mittels der Kopfunterlage, wobei die Kopfunterlage derart eingerichtet ist, dass eine Form der Kopfunterlage mittels eines Einstellsystems eingestellt werden kann, insbesondere automatisch eingestellt werden kann,
• - Empfangen von radiologischen Bilddaten, welche den Kopf des Patienten betreffen, insbesondere in einem Zustand, in dem der Kopf des Patienten mittels der Kopfunterlage gelagert ist, betreffen,
• - Berechnen einer Soll-Pose des Kopfes des Patienten basierend auf den radiologischen Bilddaten,
• - Berechnen eines Satzes von Landmarken an dem Kopf des Patienten basierend auf den radiologischen Bilddaten, insbesondere ferner basierend auf der Soll-Pose des Kopfes des Patienten,
• - Berechnen einer Landmarken-Soll-Stellung, welche den Satz von Landmarken betrifft, basierend auf den radiologischen Bilddaten und der Soll-Pose des Kopfes des Patienten,
• - Erfassen von optischen Bilddaten, welche den Kopf des Patienten betreffen, mittels einer Kamera,
• - Berechnen einer Landmarken-Ist-Stellung, welche den Satz von Landmarken betrifft, basierend auf den optischen Bilddaten,
• - Berechnen, basierend auf der Landmarken-Ist-Stellung und der Landmarken-Soll-Stellung, von Steuerungsdaten für das Einstellsystem, um die Landmarken-Ist-Stellung durch die Form der Kopfunterlage im Sinne einer Angleichung an die Landmarken-Soll-Stellung zu beeinflussen,
• - Einstellen der Form der Kopfunterlage mittels des Einstellsystems basierend auf den Steuerungsdaten für das Einstellsystem.

The invention relates to a method for setting a shape of a headrest, the method comprising the following steps:

• - Bearing a head of a patient by means of the head rest, wherein the head rest is set up in such a way that a shape of the head rest can be adjusted by means of an adjustment system, in particular can be adjusted automatically,
• - Receiving radiological image data relating to the patient's head, in particular in a state in which the patient's head is supported by means of the headrest,
• - Calculation of a target pose of the patient's head based on the radiological image data,
• Calculating a set of landmarks on the patient's head based on the radiological image data, in particular also based on the target pose of the patient's head,
• - Calculation of a landmark target position, which relates to the set of landmarks, based on the radiological image data and the target pose of the patient's head,
• - Acquisition of optical image data relating to the patient's head by means of a camera,
• - Calculating an actual landmark position, which relates to the set of landmarks, based on the optical image data,
• Calculating, based on the actual landmark position and the desired landmark position, of control data for the setting system in order to influence the actual landmark position through the shape of the headrest in the sense of an adjustment to the desired landmark position ,
• - Setting the shape of the head support by means of the adjustment system based on the control data for the adjustment system.

The radiological image data can be based, for example, on a scout image recording and / or on a localizer image recording.

When calculating the target pose of the patient's head, for example, based on the radiological image data, an orbito-meatal line can be automatically recognized, for example by means of artificial intelligence and / or with the aid of a priori knowledge, and / or an optimal inclination angle of the patient's head be calculated. The target pose of the patient's head can in particular correspond to a rule-compliant positioning of the patient's head. The target pose of the patient's head can in particular relate to a target position of the patient's head and a target orientation of the patient's head.

In particular, based on the radiological image data, a first virtual three-dimensional model, for example in the form of a target avatar, can be generated for the patient's head. In particular, the set of landmarks can be calculated based on the first virtual three-dimensional model. Furthermore, a target image can be calculated which shows the first virtual three-dimensional model in the target pose of the patient's head. In particular, each landmark of the set of landmarks can be anatomical and / or optically visible. The set of landmarks can in particular also be calculated based on the optical image data.

The desired landmark position can in particular be calculated such that the patient's head is positioned in the desired pose when the set of landmarks is arranged in the desired landmark position, in particular when the landmarks actual position of the landmarks - Target position is the same. The desired landmark position can be calculated, for example, based on an application of artificial intelligence and / or a priori knowledge to the radiological image data and the desired pose. The target position of the landmarks can be projected into the target image.

In particular, based on the optical image data, a second virtual three-dimensional model, for example in the form of an actual avatar, can be generated for the patient's head. The set of landmarks can be recognized based on the second virtual three-dimensional model, for example. In particular, the actual landmark position can be calculated based on the second virtual three-dimensional model and / or based on an application of artificial intelligence and / or a priori knowledge to the optical image data.

When calculating the control data for the adjustment system, it is possible, for example, to calculate how the shape of the head support must change so that the actual landmark position can be matched to the desired landmark position. The actual landmark position can be matched to the desired landmark position in that a difference between the actual landmark position and the desired landmark position is minimized.

The control data for the setting system can be calculated based on a machine learning algorithm, for example. In the context of this application, a machine learning algorithm is understood to mean, in particular, an algorithm that is designed for machine learning. The machine learning algorithm can be designed for monitored learning and / or for unsupervised learning, for example. The machine learning algorithm can be designed, for example, for deep learning and / or for reinforcement learning and / or for marginal space learning.

The machine learning algorithm can, for example, be based on decision trees, a random forest, a logistic regression, a support vector machine, an artificial neural network, in particular a convolutional neural network and / or a recurrent neural network (“Recurrent neural network”), a kernel method, Bayesian classifiers or the like or a combination thereof.

One embodiment provides that the shape of the headrest is regulated based on the desired landmark position as a reference variable and the actual landmark position as a control variable, in particular regulated continuously linearly or nonlinearly or discontinuously and / or in particular by means of a controller, for example is controlled by means of a PID controller (proportional integral derivative controller). The controller can in particular be based on artificial intelligence, for example in the form of machine learning.

One embodiment provides that the acquisition of the optical image data, the calculation of the actual landmark position, the calculation of the control data for the adjustment system and the adjustment of the shape of the headrest at least up to a point in time at which a predetermined condition, which means a deviation the actual landmark position relates to the desired landmark position, is met for the first time, takes place continuously.

In particular, the deviation of the actual landmark position from the desired landmark position up to the point in time at which the predefined condition, which relates to the deviation of the actual landmark position from the desired landmark position, is met for the first time, continuously calculated. In particular, for example, by means of a user interface can be displayed that the predefined condition, which relates to the deviation of the actual landmark position from the desired landmark position, is met.

In this way, the pose of the patient's head can be continuously checked and matched to the target pose of the patient's head. In particular, a pose of the actual avatar can be continuously recalculated. The predefined condition, which relates to the deviation of the actual landmark position from the desired landmark position, can in particular be met when the actual landmark position sufficiently agrees with the desired landmark position, in particular agrees.

One embodiment provides that the acquisition of the optical image data, the calculation of the actual position of the landmark, the calculation of the control data for the adjustment system and the adjustment of the shape of the head rest are carried out continuously up to a point in time at which an interruption signal is received, in particular about the predefined condition, which concerns the deviation of the actual landmark position from the desired landmark position, during an entire period of time from the point in time at which the predefined condition, which defines the deviation of the actual landmark position from the landmarks - Target position concerns, is fulfilled for the first time, to be fulfilled until the point in time at which the abort signal is received.

In particular, the termination signal can be sent automatically by the medical imaging device, for example when the acquisition of the imaging data is ended. The abort signal can be sent manually, for example, by a user, for example in order to prepare for the removal of the patient from the patient support device.

One embodiment provides that the head rest is mounted in such a way that a position of the head rest can be adjusted by means of the adjustment system, the control data for the adjustment system being calculated based on the actual landmark position and the desired landmark position in order to achieve the To influence the actual landmark position through the shape of the headrest and through the position of the headrest in the sense of an adjustment to the target landmark position, the shape of the headrest and the position of the headrest by means of the adjustment system based on the control data for the adjustment system can be set.

Furthermore, it can be provided that the shape of the headrest and the position of the headrest are regulated based on the target landmark position as a reference variable and the actual landmark position as a control variable, in particular continuously linearly or nonlinearly or discontinuously and / or in particular by means of a controller, for example by means of a PID controller (proportional-integral-derivative controller).

• - Lagern des Patienten mittels einer Patientenlagerungsvorrichtung eines medizinischen Bildgebungsgeräts, wobei die Patientenlagerungsvorrichtung eine Kopfunterlage aufweist, wobei die Kopfunterlage derart eingerichtet ist, dass eine Form der Kopfunterlage mittels eines Einstellsystems eingestellt werden kann,
• - Ausführen des Verfahrens nach einem der Ansprüche 1 bis 5 zum Einstellen der Form der Kopfunterlage,
• - Akquisition der Bildgebungsdaten, welche den Kopf des Patienten betreffen, mittels des medizinischen Bildgebungsgeräts,
• - Bereitstellen der Bildgebungsdaten, welche den Kopf des Patienten betreffen.

The invention also relates to a method for providing imaging data relating to a head of a patient, the method comprising the following steps:

• - positioning the patient by means of a patient support device of a medical imaging device, wherein the patient support device has a headrest, wherein the headrest is set up in such a way that a shape of the headrest can be adjusted by means of an adjustment system,
• - Carrying out the method according to one of claims 1 to 5 for adjusting the shape of the headrest,
• - Acquisition of the imaging data relating to the patient's head by means of the medical imaging device,
• - Providing the imaging data relating to the patient's head.

For example, as soon as the specified condition relating to the deviation of the actual landmark position from the desired landmark position is met for the first time, the acquisition of the patient's imaging data can be started by means of the medical imaging device. The imaging data can be, for example, radiological imaging data, in particular computed tomography imaging data and / or magnetic resonance imaging data.

One embodiment provides that the shape of the head support is continuously regulated based on the desired landmark position as a reference variable and the actual landmark position as a control variable during the entire duration of the acquisition of the imaging data relating to the patient's head.

Furthermore, it can be provided that the shape of the head rest and the position of the head rest based on the desired landmark position as a reference variable and the actual landmark position as a control variable during the entire duration of the acquisition of the imaging data relating to the patient's head, be regulated continuously.

In particular, a pose of the patient's head can be continuously regulated during the acquisition of the imaging data in the sense of an adjustment to the target pose of the patient's head will. In this way, a deviation of the pose of the head of the patient from the target pose of the head of the patient, which is caused, for example, by a movement of the patient, can be counteracted. If such a movement of the patient is shown via the 3D camera and / or the acquired imaging data, the shape of the head support can be adjusted accordingly in order to correct the pose of the head before further imaging data are acquired

• - eine Kopfunterlage zum Lagern eines Kopfes eines Patienten und ein Einstellsystem, wobei die Kopfunterlage derart eingerichtet ist, dass eine Form der Kopfunterlage mittels des Einstellsystems einstellbar ist, wobei das Einstellsystem zum Einstellen der Form der Kopfunterlage basierend auf Steuerungsdaten für das Einstellsystem eingerichtet ist, insbesondere zum automatischen Einstellen der Form der Kopfunterlage basierend auf Steuerungsdaten für das Einstellsystem eingerichtet ist,
• - eine Kamera zum Erfassen von optischen Bilddaten, welche den Kopf des Patienten betreffen, insbesondere während der Kopf des Patienten mittels der Kopfunterlage gelagert ist,
• - ein Datenverarbeitungssystem, welches eingerichtet ist, zum
• - Empfangen von radiologischen Bilddaten, welche den Kopf des Patienten betreffen,
• - Berechnen einer Soll-Pose des Kopfes des Patienten basierend auf den radiologischen Bilddaten,
• - Berechnen eines Satzes von Landmarken an dem Kopf des Patienten basierend auf den radiologischen Bilddaten, insbesondere ferner basierend auf der Soll-Pose des Kopfes des Patienten,
• - Berechnen einer Landmarken-Soll-Stellung, welche den Satz von Landmarken betrifft, basierend auf den radiologischen Bilddaten und der Soll-Pose des Kopfes des Patienten,
• - Berechnen einer Landmarken-Ist-Stellung, welche den Satz von Landmarken betrifft, basierend auf den optischen Bilddaten,
• - Berechnen, basierend auf der Landmarken-Ist-Stellung und der Landmarken-Soll-Stellung, der Steuerungsdaten für das Einstellsystem, um die Landmarken-Ist-Stellung durch die Form der Kopfunterlage im Sinne einer Angleichung an die Landmarken-Soll-Stellung zu beeinflussen.

The invention also relates to a system comprising

• A headrest for supporting a head of a patient and an adjustment system, the headrest being set up in such a way that a shape of the headrest can be adjusted by means of the adjustment system, the adjustment system being set up to adjust the shape of the headrest based on control data for the adjustment system, in particular is set up to automatically adjust the shape of the head pad based on control data for the adjustment system,
• a camera for capturing optical image data relating to the patient's head, in particular while the patient's head is supported by means of the headrest,
• - A data processing system which is set up for
• - Receiving radiological image data relating to the patient's head,
• - Calculation of a target pose of the patient's head based on the radiological image data,
• Calculating a set of landmarks on the patient's head based on the radiological image data, in particular also based on the target pose of the patient's head,
• - Calculation of a landmark target position, which relates to the set of landmarks, based on the radiological image data and the target pose of the patient's head,
• - Calculating an actual landmark position, which relates to the set of landmarks, based on the optical image data,
• Calculating, based on the actual landmark position and the desired landmark position, the control data for the setting system in order to influence the actual landmark position through the shape of the headrest in the sense of an adjustment to the desired landmark position .

In particular, it can be provided that the system is designed to carry out a method according to one of the aspects disclosed.

The data processing unit can form a regulator, for example, the shape of the head support being regulated by means of the regulator based on the desired landmark position as a reference variable and the actual landmark position as a controlled variable.

In particular, the headrest can be mounted in such a way that a position of the headrest can be adjusted by means of the adjustment system. Furthermore, it can be provided that the data processing system is set up to calculate, based on the actual landmark position and the desired landmark position, control data for the setting system in order to determine the actual landmark position through the shape of the headrest and through the To influence the position of the head rest in the sense of an adjustment to the landmark target position.

The camera can be a 3D camera, for example. The camera can, for example, be arranged relative to the medical imaging device in such a way that the acquisition of the optical image data can take place in parallel with the acquisition of the imaging data.

The headrest can in particular be a pillow. The headrest can, for example, have a plurality of compartments which can be filled with a fluid independently of one another, in particular by means of a fluid energy machine. This enables the head to be positioned in an individually adapted manner, in particular with regard to the inclination. The artificial intelligence now calculates and controls the inflation of the chambers in the positioning cushion in order to achieve the optimal inclination position.

One embodiment provides that the setting system has a fluid energy machine for exchanging mechanical work with a fluid and a fluid line system for transferring the fluid, wherein the head pad is fluidically connected to the fluid energy machine by means of the fluid line system, in particular is fluidically connected in such a way that the fluid between the headrest and the fluid energy machine can be transmitted, for example, can be transmitted bidirectionally, the shape of the headrest can be fluidically adjusted by means of the adjustment system.

One embodiment provides that the fluid is a gas, that the head support is pneumatically connected to the fluid energy machine by means of the fluid line system, and that the shape of the The headrest can be adjusted pneumatically by means of the adjustment system. The fluid energy machine can be designed, for example, in the form of at least one compressor and / or compressor. In particular, if the headrest is operated pneumatically, it can easily be made MR-compatible by placing the pressure generation and control outside the critical area.

Furthermore, it can be provided that the fluid is a liquid, that the head support is hydraulically connected to the fluid energy machine by means of the fluid line system, and that the shape of the head support is hydraulically adjustable by means of the adjustment system. The fluid energy machine can be designed, for example, in the form of at least one pump.

One embodiment provides that the head rest has a plurality of compartments, each compartment of the plurality of compartments being fluidically connected to the fluid energy machine by means of the fluid line system, in particular being fluidically connected in such a way that the fluid can be transferred between this compartment and the fluid energy machine, for example, can be transmitted bidirectionally, the shape of the head support can be adjusted by means of the adjustment system based on the control data for the adjustment system by adding a quantity of the fluid that is in this compartment and / or a pressure of the Fluid in this compartment, in particular by transferring the fluid into this compartment or out of this compartment, can be set.

Furthermore, it can be provided that each compartment of the plurality of compartments adjoins the patient's head in a form-fitting manner when the patient's head is supported by means of the headrest. In particular, in addition to the compartments of the plurality of compartments, the headrest can comprise further compartments which are not contained in the plurality of compartments.

One embodiment provides that the plurality of compartments has a first compartment, a second compartment and a third compartment, the first compartment and the second compartment being arranged in succession along a first direction, the first compartment and the third compartment along a second Direction which is substantially perpendicular to the first direction, in particular is perpendicular, are arranged successively.

Furthermore, it can be provided that the plurality of compartments has a fourth compartment, the third compartment and the fourth compartment being arranged in succession along the first direction, the second compartment and the fourth compartment being arranged along the second direction, which corresponds to the first direction in Is substantially perpendicular, in particular is perpendicular, are arranged in succession.

One embodiment provides that the adjustment system has a positioning device which is set up to move the head support in a straight line along a direction of movement, a position of the head support being adjustable along the direction of movement by means of the adjustment system. The direction of movement can be, for example, perpendicular to the first direction and / or perpendicular to the second direction.

One embodiment provides that the system has a medical imaging device for the acquisition of imaging data relating to the patient's head, the medical imaging device having a patient support device for supporting the patient, the patient support device having the head rest.

In particular, the patient support device can have a head shell for receiving the head rest in a form-fitting manner. The head pad can be received in the head shell in a form-fitting manner, for example. Furthermore, it can be provided that the fluid line system is arranged on the patient support device or is integrated into the patient support device.

The medical imaging device can be selected, for example, from the group of imaging modalities which consists of an x-ray device, a C-arm x-ray device, a computed tomography device (CT device), a molecular imaging device (MI device), a single-photon emission computed tomography device (SPECT- Device), a positron emission tomography device (PET device), a magnetic resonance tomography device (MR device) and combinations thereof, in particular a PET-CT device and a PET-MR device. The medical imaging device can furthermore have a combination of an imaging modality, which is selected, for example, from the group of imaging modalities, and an irradiation modality. The irradiation modality can for example have an irradiation unit for therapeutic irradiation.

One embodiment provides that the patient support device forms the positioning device for positioning the head rest.

The target pose of the head of the patient can be, for example, a target pose of the head of the patient relative to a coordinate system of the medical imaging device. The desired landmark position can be, for example, a desired landmark position relative to the coordinate system of the medical imaging device. The actual landmark position can be, for example, an actual landmark position relative to the coordinate system of the medical imaging device. The position of the head support can be, for example, a position of the head support relative to the coordinate system of the medical imaging device. The positioning device can, for example, be set up to move the head support in a straight line along the direction of movement relative to the coordinate system of the medical imaging device.

In this way, on the one hand, an inclination of the patient's head can be set. On the other hand, a rotational misalignment of the patient's head or a lateral tilting from the center line can be recognized and corrected in order to set an optimal pose of the head. Furthermore, in the event that the patient wobbles, the pressure in the head support can be increased in order to achieve a tighter positioning of the patient's head.

On the one hand, irradiation of the particularly sensitive eyes and a deteriorated image quality due to suboptimal positioning of the patient can be avoided in this way. On the other hand, the setting of the shape of the head positioning can now be done fully automatically and reproducibly. In this way, images from different imaging examinations can be compared better and assessed more reliably. The patient can be positioned much faster than conventional storage solutions, so that the examination throughput can be increased.

Within the scope of the invention, features which are described in relation to different embodiments of the invention and / or different claim categories (method, use, device, system, arrangement, etc.) can be combined to form further embodiments of the invention. For example, a claim relating to a device can also be developed with features that are described or claimed in connection with a method, and vice versa. Functional features of a method can be implemented by correspondingly designed physical components. In addition to the embodiments of the invention expressly described in this application, various other embodiments of the invention are conceivable, which the person skilled in the art can arrive at without departing from the scope of the invention, which is specified by the claims.

In the following, the invention is explained on the basis of exemplary embodiments with reference to the accompanying figures. The representation in the figures is schematic, greatly simplified and not necessarily true to scale.

• die 1 ein System mit einer Kopfunterlage und einem Einstellsystem,
• die 2 die Kopfunterlage in einem ersten Betriebszustand in einer ersten Ansicht,
• die 3 die Kopfunterlage in einem zweiten Betriebszustand in der ersten Ansicht,
• die 4 die Kopfunterlage in dem ersten Betriebszustand in der zweiten Ansicht,
• die 5 die Kopfunterlage in einem dritten Betriebszustand in der zweiten Ansicht,
• die 6 ein Ablaufdiagramm eines Verfahrens zum Einstellen einer Form einer Kopfunterlage, und
• die 7 ein Ablaufdiagramm eines Verfahrens zum Bereitstellen von Bildgebungsdaten.

Show it:

• the 1 a system with a head rest and an adjustment system,
• the 2 the headrest in a first operating state in a first view,
• the 3 the headrest in a second operating state in the first view,
• the 4th the headrest in the first operating state in the second view,
• the 5 the headrest in a third operating state in the second view,
• the 6th a flowchart of a method for setting a shape of a head pad, and
• the 7th a flowchart of a method for providing imaging data.

• - eine Kopfunterlage 16 zum Lagern LK eines Kopfes 14 eines Patienten 13 und ein Einstellsystem 17, wobei die Kopfunterlage 16 derart eingerichtet ist, dass eine Form der Kopfunterlage 16 mittels des Einstellsystems 17 einstellbar ist, wobei das Einstellsystem 17 zum Einstellen NK der Form der Kopfunterlage 16 basierend auf Steuerungsdaten für das Einstellsystem 17 eingerichtet ist,
• - eine Kamera 4 zum Erfassen von optischen Bilddaten, welche den Kopf 14 des Patienten 13 betreffen, insbesondere während der Kopf 14 des Patienten 13 mittels der Kopfunterlage 16 gelagert ist,
• - ein Datenverarbeitungssystem 3, welches eingerichtet ist, zum
• - Empfangen ER von radiologischen Bilddaten, welche den Kopf 14 des Patienten 13 betreffen,
• - Berechnen BK einer Soll-Pose des Kopfes 14 des Patienten 13 basierend auf den radiologischen Bilddaten,
• - Berechnen BL eines Satzes von Landmarken L an dem Kopf 14 des Patienten 13 basierend auf den radiologischen Bilddaten,
• - Berechnen BS einer Landmarken-Soll-Stellung, welche den Satz von Landmarken L betrifft, basierend auf den radiologischen Bilddaten und der Soll-Pose des Kopfes 14 des Patienten 13,
• - Berechnen BI einer Landmarken-Ist-Stellung, welche den Satz von Landmarken L betrifft, basierend auf den optischen Bilddaten,
• - Berechnen BN, basierend auf der Landmarken-Ist-Stellung und der Landmarken-Soll-Stellung, der Steuerungsdaten für das Einstellsystem 17, um die Landmarken-Ist-Stellung durch die Form der Kopfunterlage 16 im Sinne einer Angleichung an die Landmarken-Soll-Stellung zu beeinflussen.

the 1 shows a system 1 , having

• - a head pad 16 for storing LK a head 14th of a patient 13th and an adjustment system 17th , with the headrest 16 is set up in such a way that a shape of the headrest 16 by means of the adjustment system 17th is adjustable, the adjustment system 17th for setting NK the shape of the headrest 16 based on control data for the setting system 17th is set up,
• - a camera 4th for the acquisition of optical image data, which the head 14th of the patient 13th concern, especially while the head 14th of the patient 13th by means of the head pad 16 is stored
• - a data processing system 3 , which is set up for
• - Receive ER from radiological image data showing the head 14th of the patient 13th affect,
• - Calculate BK of a nominal pose of the head 14th of the patient 13th based on the radiological image data,
• Compute BL of a set of landmarks L on the head 14th of the patient 13th based on the radiological image data,
• - Calculation BS of a landmark target position which relates to the set of landmarks L, based on the radiological image data and the target pose of the head 14th of the patient 13th ,
• - Calculation BI of a landmark actual position, which relates to the set of landmarks L, based on the optical image data,
• - Calculate BN, based on the actual landmark position and the desired landmark position, of the control data for the setting system 17th to the landmarks actual position through the shape of the headrest 16 to influence in the sense of an adjustment to the landmark target position.

The adjustment system 17th has a fluid energy machine 18th for the exchange of mechanical work with a fluid F and a fluid line system 19th to transfer the fluid F to, the head pad 16 by means of the fluid line system 19th with the fluid energy machine 18th is fluidly connected, the shape of the head pad 16 by means of the adjustment system 17th is fluidically adjustable.

The fluid F is a gas, being the head pad 16 by means of the fluid line system 19th with the fluid energy machine 18th pneumatically connected, taking the form of the head pad 16 by means of the adjustment system 17th is pneumatically adjustable.

The system 1 has a medical imaging device 2 for acquisition V3 of imaging data showing the head 14th of the patient 13th concern, the medical imaging device 2 a patient support device 10 for storage V1 of the patient 13th having, wherein the patient support device 10 the headrest 16 having. The patient support device 10 also has the head shell 15th , the storage plate 12th and the storage base 11 on.

The medical imaging device 2 has a gantry 20th on which a tunnel-shaped opening 9 in which the patient 13th is insertable. In the tunnel-shaped opening 9 is the acquisition area 29 of the medical imaging device 2 in which the medical imaging device 2 with an area of the patient to be examined 13th can interact to provide imaging data from the area of the patient to be examined 13th to acquire. The acquisition area 29 is in the field of view 40 the camera 4th . The camera 4th is such relative to the medical imaging device 2 arranged that the acquisition of the optical image data can take place in parallel to the acquisition of the imaging data.

The system 1 also has a computer 30th to control the medical imaging device 2 , the camera 4th and the adjustment system 17th on. The computer 30th assigns a processor 33 , a memory 31 and a data transmission interface 32 and forms data processing system 3 .

the 2 shows the headrest 16 in a first operating state in a first view. The head pad 16 has a plurality of compartments, each compartment of the plurality of compartments by means of the fluid line system 19th with the fluid energy machine 18th is fluidly connected, the shape of the head pad 16 by means of the adjustment system 17th based on the control data for the setting system 17th can be set in that, for each compartment of the plurality of compartments, a quantity of the fluid F which is located in this compartment and / or a pressure of the fluid F in this compartment can be set.

The plurality of compartments have a first compartment 16A , a second compartment 16B and a third compartment 16C on, being the first compartment 16A and the second compartment 16B are arranged successively along a first direction z, the first compartment 16A and the third compartment 16C are arranged in succession along a second direction x which is perpendicular to the first direction z.

The first direction z is parallel to the system axis AS of the medical imaging device 2 . The second direction x is perpendicular to the system axis AS and to the vertical axis AV.

the 3 shows the headrest 16 in a second operating state in the first view. The head pad 16 is mounted in such a way that a position of the head rest 16 by means of the adjustment system 17th can be set, based on the landmark actual position and the landmark position, the control data for the setting system 17th are calculated to the landmarks actual position through the shape of the headrest 16 and by the position of the headrest 16 to influence in the sense of an adjustment to the landmark target position, with the shape of the headrest 16 and the position of the headrest 16 by means of the adjustment system 17th based on the control data for the setting system 17th can be set.

The adjustment system 17th has a positioning device 1P on, which is set up for this, the headrest 16 to move in a straight line along a direction of movement y, with a position of the head support 16 along the direction of movement y by means of the adjustment system 17th is adjustable. The direction of movement y is perpendicular to the first direction z and perpendicular to the second direction x. The direction of movement y is parallel to the vertical axis AV.

The patient support device 10 forms the positioning device 1P for positioning the headrest 16 . The position of the head rest 16 is a position of the head rest 16 relative to the coordinate system K of the medical imaging device 2 . The positioning device 1P is set up for this purpose, the head rest 16 along the direction of movement y in a straight line relative to the coordinate system K of the medical imaging device 2 to move.

The position of the head rest is in the second operating state 16 with respect to the vertical axis AV lower than in the first operating state, in order to have a greater inclination of the head than in the first operating state 14th further isocentration of the head 14th to adjust.

the 4th shows the headrest 16 in the first operating state in the second view. The head 14th is about the system axis AS, which in the case shown is also the longitudinal axis of the patient 13th corresponds, tilted.

the 5 shows the headrest 16 in a third operating state in the second view. The tilt of the head 14th around the system axis AS is made by adjusting the shape of the head support 16 counteracted.

• - Lagern LK eines Kopfes 14 eines Patienten 13 mittels der Kopfunterlage 16, wobei die Kopfunterlage 16 derart eingerichtet ist, dass eine Form der Kopfunterlage 16 mittels eines Einstellsystems 17 eingestellt werden kann,
• - Empfangen ER von radiologischen Bilddaten, welche den Kopf 14 des Patienten 13 betreffen,
• - Berechnen BK einer Soll-Pose des Kopfes 14 des Patienten 13 basierend auf den radiologischen Bilddaten,
• - Berechnen BL eines Satzes von Landmarken L an dem Kopf 14 des Patienten 13 basierend auf den radiologischen Bilddaten,
• - Berechnen BS einer Landmarken-Soll-Stellung, welche den Satz von Landmarken L betrifft, basierend auf den radiologischen Bilddaten und der Soll-Pose des Kopfes 14 des Patienten 13,
• - Erfassen EO von optischen Bilddaten, welche den Kopf 14 des Patienten 13 betreffen, mittels einer Kamera 4,
• - Berechnen BI einer Landmarken-Ist-Stellung, welche den Satz von Landmarken L betrifft, basierend auf den optischen Bilddaten,
• - Berechnen BN, basierend auf der Landmarken-Ist-Stellung und der Landmarken-Soll-Stellung, von Steuerungsdaten für das Einstellsystem 17, um die Landmarken-Ist-Stellung durch die Form der Kopfunterlage 16 im Sinne einer Angleichung an die Landmarken-Soll-Stellung zu beeinflussen,
• - Einstellen NK der Form der Kopfunterlage 16 mittels des Einstellsystems 17 basierend auf den Steuerungsdaten für das Einstellsystem 17.

the 6th FIG. 10 shows a flow chart of a method for adjusting the shape of the headrest 16 , the method comprising the steps of:

• - LK storage of a head 14th of a patient 13th by means of the head pad 16 , with the headrest 16 is set up in such a way that a shape of the headrest 16 by means of an adjustment system 17th can be set,
• - Receive ER from radiological image data showing the head 14th of the patient 13th affect,
• - Calculate BK of a nominal pose of the head 14th of the patient 13th based on the radiological image data,
• Compute BL of a set of landmarks L on the head 14th of the patient 13th based on the radiological image data,
• Calculation BS of a landmark target position which relates to the set of landmarks L, based on the radiological image data and the target pose of the head 14th of the patient 13th ,
• - Acquisition EO of optical image data, which the head 14th of the patient 13th concern, by means of a camera 4th ,
• - Calculation BI of a landmark actual position, which relates to the set of landmarks L, based on the optical image data,
• - Calculate BN, based on the actual landmark position and the desired landmark position, of control data for the setting system 17th to get the landmarks actual position through the shape of the headrest 16 to influence in the sense of an adjustment to the target position of the landmarks,
• - Setting NK of the shape of the head rest 16 by means of the adjustment system 17th based on the control data for the setting system 17th .

The dashed line illustrates the continuous regulation of the shape of the headrest based on the desired landmark position as the reference variable and the actual landmark position as the controlled variable.

• - Lagern V1 des Patienten 13 mittels einer Patientenlagerungsvorrichtung 10 eines medizinischen Bildgebungsgeräts 2, wobei die Patientenlagerungsvorrichtung 10 eine Kopfunterlage 16 aufweist, wobei die Kopfunterlage 16 derart eingerichtet ist, dass eine Form der Kopfunterlage 16 mittels eines Einstellsystems 17 eingestellt werden kann,
• - Ausführen V2 des Verfahrens nach einem der Ansprüche 1 bis 5 zum Einstellen der Form der Kopfunterlage 16,
• - Akquisition V3 der Bildgebungsdaten, welche den Kopf 14 des Patienten 13 betreffen, mittels des medizinischen Bildgebungsgeräts 2,
• - Bereitstellen V4 der Bildgebungsdaten, welche den Kopf 14 des Patienten 13 betreffen.

the 7th FIG. 13 shows a flowchart of a method for providing imaging data which the head 14th of the patient 13th concern, the method comprising the following steps:

• - To store V1 of the patient 13th by means of a patient support device 10 a medical imaging device 2 , the patient support device 10 a head pad 16 having, the headrest 16 is set up in such a way that a shape of the headrest 16 by means of an adjustment system 17th can be set,
• - Carry out V2 of the method according to any one of claims 1 to 5 for adjusting the shape of the headrest 16 ,
• - acquisition V3 the imaging data showing the head 14th of the patient 13th concern, by means of the medical imaging device 2 ,
• - Provide V4 the imaging data showing the head 14th of the patient 13th affect.

Claims (15)

A method for setting a shape of a headrest (16), the method comprising the following steps: positioning (LK) a head (14) of a patient (13) by means of the headrest (16), the headrest (16) being set up in this way that a shape of the head support (16) can be adjusted by means of an adjustment system (17), - reception (ER) of radiological image data relating to the head (14) of the patient (13), - calculation (BK) of a target pose of the head (14) of the patient (13) based on the radiological image data, - calculating (BL) a set of landmarks (L) on the head (14) of the patient (13) based on the radiological image data, - calculating (BS) a landmark target position which relates to the set of landmarks (L), based on the radiological image data and the target pose of the head (14) of the patient (13), acquisition (EO) of optical image data relating to the head (14) of the patient (13) by means of a camera (4), - Calculating (BI) an actual landmark position, which relates to the set of landmarks (L), based on the optical image data, - Calculating (BN), based on the actual landmark position and the desired landmark position, of control data for the setting system (17) in order to influence the actual landmark position through the shape of the head support (16) in the sense of an adjustment to the target position of the landmarks, - setting (NK) the shape of the head support (16) by means of the setting system (17) based on the control data for the setting system (17). Procedure according to Claim 1 - The shape of the head support (16) is regulated based on the desired landmark position as a reference variable and the actual landmark position as a control variable. Procedure according to Claim 1 or 2 - wherein the acquisition (EO) of the optical image data, the calculation (BI) of the actual landmark position, the calculation (BN) of the control data for the adjustment system (17) and the adjustment (NK) of the shape of the head support (16) occurs continuously at least up to a point in time at which a predefined condition, which relates to a deviation of the actual landmark position from the desired landmark position, is met for the first time. Method according to one of the Claims 1 until 3 - wherein the acquisition (EO) of the optical image data, the calculation (BI) of the actual landmark position, the calculation (BN) of the control data for the adjustment system (17) and the adjustment (NK) of the shape of the head support (16) takes place continuously until a point in time at which an abort signal is received. Method according to one of the Claims 1 until 4th - The head support (16) is mounted in such a way that a position of the head support (16) can be set by means of the setting system (17), - the control data for the adjustment system (17) can be calculated in order to influence the actual landmark position through the shape of the headrest (16) and through the position of the headrest (16) in the sense of an adjustment to the desired landmark position, - the shape the head support (16) and the position of the head support (16) can be adjusted by means of the adjustment system (17) based on the control data for the adjustment system (17). A method for providing imaging data relating to a head (14) of a patient (13), the method comprising the following steps: positioning (V1) the patient (13) by means of a patient support device (10) of a medical imaging device (2), wherein the patient support device (10) has a head rest (16), the head rest (16) being set up in such a way that a shape of the head rest (16) can be adjusted by means of an adjustment system (17) the Claims 1 until 5 for setting the shape of the head support (16), - acquisition (V3) of the imaging data relating to the head (14) of the patient (13) by means of the medical imaging device (2), - providing (V4) the imaging data relating to the head (14) of the patient (13) concern. Procedure according to Claim 6 - The shape of the head support (16) based on the target position of the landmark as a reference variable and the actual position of the landmark as a control variable during the entire duration of the acquisition (V3) of the imaging data which the head (14) of the patient ( 13), is regulated on an ongoing basis. System (1), comprising - a head rest (16) for supporting (LK) a head (14) of a patient (13) and an adjustment system (17), the head rest (16) being set up in such a way that a shape of the head rest ( 16) can be set by means of the setting system (17), the setting system (17) being set up for setting (NK) the shape of the head support (16) based on control data for the setting system (17), a camera (4) for capturing optical image data relating to the head (14) of the patient (13), - a data processing system (3) which is set up for - receiving (ER) radiological image data relating to the head (14) of the patient (13), - Calculating (BK) a target pose of the head (14) of the patient (13) based on the radiological image data, - Calculating (BL) a set of landmarks (L) on the head (14) of the patient (13) based on the radiological image data, - calculation (BS) of a landmark target position, which relates to the set of landmarks (L), based on the radiological image data and the target pose of the head (14) of the patient (13), - calculating (BI) an actual landmark position which contains the set of landmarks (L) relates, based on the optical image data, - calculation (BN), based on the landmark actual position and the landmark position, the control data for the setting system (17) to the To influence the actual landmark position through the shape of the head support (16) in the sense of an approximation to the desired landmark position. System (1) according to Claim 8 - wherein the setting system (17) has a fluid energy machine (18) for exchanging mechanical work with a fluid (F) and a fluid line system (19) for transferring the fluid (F), - wherein the head support (16) by means of the fluid line system ( 19) is fluidically connected to the fluid energy machine (18), - wherein the shape of the head support (16) can be fluidically adjusted by means of the adjustment system (17). System (1) according to Claim 9 - wherein the fluid (F) is a gas, - wherein the head support (16) is pneumatically connected to the fluid energy machine (18) by means of the fluid line system (19), - the shape of the head support (16) by means of the adjustment system (17) is pneumatically adjustable. System (1) according to Claim 9 or 10 - wherein the head support (16) has a plurality of compartments, - wherein each compartment of the plurality of compartments is fluidically connected to the fluid energy machine (18) by means of the fluid line system (19), - the shape of the head support (16) by means of the adjustment system (17) can be set based on the control data for the setting system (17) by adding, for each compartment of the plurality of compartments, a quantity of the fluid (F) that is in this compartment and / or a pressure of the fluid (F) in this compartment is adjustable. System (1) according to Claim 11 - wherein the plurality of compartments has a first compartment (16A), a second compartment (16B) and a third compartment (16C), - wherein the first compartment (16A) and the second compartment (16B) along a first direction (e.g. ) are arranged one after the other, - wherein the first compartment (16A) and the third compartment (16C) are arranged one after the other along a second direction (x) which is perpendicular to the first direction (z). System (1) according to one of the Claims 8 until 12th - wherein the adjustment system (17) has a positioning device (1P) which is set up to move the head support (16) in a straight line along a movement direction (y), - wherein a position of the head support (16) along the movement direction (y) is adjustable by means of the adjustment system (17). System (1) according to one of the Claims 8 until 13th - the system (1) having a medical imaging device (2) for the acquisition (V3) of imaging data relating to the head (14) of the patient (13), - the medical imaging device (2) having a patient positioning device (10) for supporting (V1) the patient (13), - wherein the patient supporting device (10) has the headrest (16). System (1) according to one of the Claims 8 until 14th - wherein the patient support device (10) forms the positioning device (1P) for positioning the head support (16).

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